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Multi-material 3D printing of soft robots using a quad extruder based 3D printer
This project involves determining optimal printing parameters of a novel multi material quad-extruder (two filament printing extruder and two pellet extruders) based FDM 3D printer. Different materials will be used to fabricate different robotic structures with both sensing and actuating elements.
Keywords: robotics, 3D printing, multi material printing, rapid prototyping, FDM, integrated systems, soft, thermoplastic elastomers
Rigid-soft-hybrid robots are robotic systems made up of rigid and soft materials. This enables systems that resemble nature more closely compared to assemblies that rely solely on soft or rigid materials. Recent advances in multi material 3D printing technology allow for a wide range of material hardness to be printed at once. This does not only reduce manufacturing times but also relieves constraints on the design due to ease of fabrication. In this exciting project you will be asked to determine optimal printing parameters of a novel multi material quad-extruder (two filament printing extruder and two pellet extruders) FDM 3D printer. In the first part of the project, different materials to be used will be defined (namely, soft thermoplastic elastomer, thermoplastic, support material, soft sensor material). Different complex designs will be investigated to generate sensing and actuating elements in soft robotic modules. Furthermore, the various printing parameters will be investigated to be able to utilize different materials during one printing process and develop one structure using multiple printing extruders. The goal of the project is to fabricate a functional and sensing soft robot produced in one print process.
Rigid-soft-hybrid robots are robotic systems made up of rigid and soft materials. This enables systems that resemble nature more closely compared to assemblies that rely solely on soft or rigid materials. Recent advances in multi material 3D printing technology allow for a wide range of material hardness to be printed at once. This does not only reduce manufacturing times but also relieves constraints on the design due to ease of fabrication. In this exciting project you will be asked to determine optimal printing parameters of a novel multi material quad-extruder (two filament printing extruder and two pellet extruders) FDM 3D printer. In the first part of the project, different materials to be used will be defined (namely, soft thermoplastic elastomer, thermoplastic, support material, soft sensor material). Different complex designs will be investigated to generate sensing and actuating elements in soft robotic modules. Furthermore, the various printing parameters will be investigated to be able to utilize different materials during one printing process and develop one structure using multiple printing extruders. The goal of the project is to fabricate a functional and sensing soft robot produced in one print process.
● Selection of different polymeric materials to generate soft robotic elements with integrated sensor and actuation modules.
● Printing of stiff thermoplastic structures and elastomeric structures with low shore hardness.
● Investigate different printing parameters for the quad extruder 3D printer and optimize printing for the different extruders and printing with different materials simultaneously, including support materials.
● Solve different problems faced while using multi- extruder 3D printer for printing different materials to build soft robotic modules based on pneumatic elements.
● Investigate the application of these structures in soft robotics, as actuators with integrated sensors.
● Selection of different polymeric materials to generate soft robotic elements with integrated sensor and actuation modules. ● Printing of stiff thermoplastic structures and elastomeric structures with low shore hardness. ● Investigate different printing parameters for the quad extruder 3D printer and optimize printing for the different extruders and printing with different materials simultaneously, including support materials. ● Solve different problems faced while using multi- extruder 3D printer for printing different materials to build soft robotic modules based on pneumatic elements. ● Investigate the application of these structures in soft robotics, as actuators with integrated sensors.
Somashree Mondal, somashree.mondal@srl.ethz.ch, Laboratory for High Performance Ceramics, EMPA
Thomas Buchner, thomas.buchner@srl.ethz.ch, Soft Robotics Lab (SRL), D-MAVT
Dr. Frank Jörg Clemens, Frank.Clemens@empa.ch, Laboratory for High Performance Ceramics, EMPA
Prof. Robert Katzschmann, rkk@ethz.ch, Soft Robotics Lab (SRL), D-MAVT
Somashree Mondal, somashree.mondal@srl.ethz.ch, Laboratory for High Performance Ceramics, EMPA Thomas Buchner, thomas.buchner@srl.ethz.ch, Soft Robotics Lab (SRL), D-MAVT Dr. Frank Jörg Clemens, Frank.Clemens@empa.ch, Laboratory for High Performance Ceramics, EMPA Prof. Robert Katzschmann, rkk@ethz.ch, Soft Robotics Lab (SRL), D-MAVT